7 ROS2 -Creating ROS Package
my_package/
CMakeLists.txt
include/my_package/
package.xml
src/
my_package/
package.xml
resource/my_package
setup.cfg
setup.py
my_package/
workspace_folder/
src/
cpp_package_1/
CMakeLists.txt
include/cpp_package_1/
package.xml
src/
py_package_1/
package.xml
resource/py_package_1
setup.cfg
setup.py
py_package_1/
...
cpp_package_n/
CMakeLists.txt
include/cpp_package_n/
package.xml
src/
ros2 pkg create --build-type ament_python <package_name>
cs
ros2 pkg create --build-type ament_python --node-name my_node my_package
•In the same terminal and run:
cb
ros2 run my_package my_node
Check package
Package.xml
Setup.py
Reference : https://docs.ros.org/en/humble/Installation.html